Design For Self-adaptive Mainpulator Of Pipe Migrating System Petroleum Drilling Rig

A manipulator is a device can grab and clamp workpiece, which hasbeen used widely in crop of fruit picking, transporting of equipments,medical operation, assistant of injection, stamping, welding and otherspecial operations. The manipulator studied in this paper is a keycomponent used for pipe racking in petrolic or scientific drilling plotform.Pipe racking system replace manual operation with automated equipment,which achieves automated pipe racking without drill workers. Whiledrilling, making connections remotely, automated transporting andracking drill pipes can save a lot of time.There are various specifications of drill pipes and drill collar, but theclamping range of pipe racking systems both here and abroad is limited,while racking large diameter drill pipes, derrickmen are still needed towork in monkeyboard, in this situation, automated pipe racking doesn’trealize fully.The manipulator studied in this paper can achieve grabbing, holding,loosen the drill pipes, making connections auxiliary with Iron roughneck,can used in almost all the pipe racking systems.Through careful analysis and accurate geometry, turning themanipulator gripper complex pose adjustment problems into linearmovement of the hydraulic cylinder, which solves the precise positionadjustment to the problems of the manipulator control, verifies thecorrectness and validity of the method through simulation.This paper comes form the Deep Continental Scientific Drillingequipment development from the Exploration of the Deep InteriorBeneath the Chinese Continent（SinoProbe-09-05）, The purpose of thispaper is to develop a kind of oil drill pipe with a transport device adaptivemanipulator. The design of the robot are analyzed in detail, the structure design and calculation of kinematic and dynamic analysis on themechanism, the clamping ability is computed in detail, considering thefriction coefficient of the surface treatment method, and propose solutions,the holding of different diameter pipe clamping force variation trend, Atthe end of each main bearing parts under static load strength and stiffnessby the finite element simulation analysis, verify the manipulator partsstrength, In addition, also proved the iron roughneck in unloading thevertical root that root rotation, mechanical hand by the dynamic changesand the clamping force.